Thanks, I'll look into the plugin solution.

@juanchito, Currently, there is no direct way to modify lidar point cloud "fade time". We have submitted a feature request to incorporate "fade time" as either a user config setting or property for future ANVEL releases. A possible workaround is to write a plugin: -Access the Replay by its ID -Cast to a PointCloudReplay -Call SetFadeTime. void SetFadeTime(float64 fadeTime); We appreciate your suggestions and feedback. Please let us know if we can do anything else to help. Regards, ANVEL Support

@hroth, Great question. We would love to support ROS Kinetic on Ubuntu 16.04, and have tentative plans to do so for the ANVEL 4.0 release in May 2019. We don't currently publish the ANVEL roadmap, since it is predominately dictated by paying customers and may fluctuate. If you and/or your team needs ROS Kinetic support before May, I can bring up the issue with the business development team and get back to you with commercial pricing and contracting options. Just let us know! Regards, ANVEL Support

@iangregor Can you provide some context for your post? It does not appear to be in context with the rest of this thread. Thanks! ANVEL Support

Dear tfw006, In monitoring the ANVEL support forums, our team has noticed that you’ve been actively working with the product and finding a few challenges. We are excited that you are using ANVEL, and want to help you work through these issues and meet your needs. For the most part, the forums are intended for the occasional issue or concern, not so much as a comprehensive support tool for those working to seriously leverage the technology and build solutions. However, the following online tutorial may point you in the right direction: https://assettocorsamods.net/threads/lidar-point-cloud-to-mesh-tutorial.422/ Thus, while we want to help you further, we really strongly recommend that you consider one of our available paid support options. The simplest support option is what we call the “Bucket ‘O Hours” that provides timely, on-request responses to support issues as well as several other great features (including direct email-based support and updated interim releases of the program). If you would be interested in that, our sales department can be contacted at sales@anvelsim.com and we can have them follow up with you directly. By the way, we also have ANVEL development services and training available to help kick-start your efforts and move them forward faster. Again, we sincerely appreciate your interest in ANVEL, and look forward to working with you soon! Thanks! The ANVEL Support Team

@ANVEL-Team Thank you

Okay, I will look into to that. Yes, let me know what you think about fusion. I will try to find a way to covert the data into ANVEL. I don't want to reinvent the wheel though.

@JayATC, We have the beginnings of an example for you that might help triggering your events when a certain vehicle passes through the volume. The idea is that the Python script below can be attached to an object with a TriggerVolume component. Save it as TriggerVolumeExample.py (or similarly named) in the objects folder, and it will show an ID entry in the custom properties field. Check it out: =========================================== import Anvel import Anvel.Scripting #This script will utilize the Anvel Message system to receive updates when an object has entered in to this #trigger volume. The message def OnObjectEntered(state, params): id = params[0] #Verify that the entered messa if state.triggerVolumeId == params[1]: Anvel.Log("Object entered: " + str(id) ) if state.TargetId == id: Anvel.Log("Target id entered!") def Initialize(state): #First verify that we have an attached Trigger Volume component. If not, log an error and #bail triggerVolumeIds = Anvel.GetComponentIdsOfType(state.id, Anvel.Enums.ComponentType.TriggerVolume) if len(triggerVolumeIds) == 0: Anvel.Error("No TriggerVolume attached to this object. Script will not be processed.") return #Save our trigger volume component id, which can be used to filter the ObjectEnteredTrigger #messages to only the component we are attached to. state.triggerVolumeId = triggerVolumeIds[0] #Subscribe to the message published by TriggerVolumes when an object enters Anvel.Scripting.SubscribeToMessage(state, Anvel.Messages.ObjectEnteredTrigger, OnObjectEntered) #Allow the user to optionally set a specific ID to check for Anvel.Scripting.AddProperty(state, "TargetId", Anvel.Enums.VariantTypes.Id) Regards, ANVEL Support

Thank you for the question! After a bit of testing and talking to development, I have confirmed we are using the first section as the identifier. You will have to put your VehicleName "uniqueness" before the dot. We have entered this into our tracking system for future improvement. Sincerely, ANVEL Support

@anvel-team It was a little misleading that there's the same entry in Properties > Sim tab > Physics > NumThread. It was editable, yet wouldn't take effect nor keep across restarts. I'm talking about Anvel 3.0, haven't tried 3.1. I am running it with that many cores. There's a lot of users running it with that many cores now; we have to run other processing on the machine.

@ANVEL-Team Thank you so much for replying. I will report to our supervisor about it. Nowadays, sensors are becoming more and more small and work as multiple roles. besides the depth sensor mention above, we have other multiple function sensors in the same vehicle. Hope you have better solution for that.. I once tried writing a new sensor plugin with existing sensor combination such as stereo camera and camera.. Although, the user can derive "StereoCameraSensor" or "CameraSensor" but not create their instance directly , It looks like they are created and controlled by the system( DefaultSensorFactory). the user can not full control these sensor life cycle in the plug easily ( create, run, destroy it). As the typical software design pattern, the class design should allow different sensors' composition, etc. In addition, for sensor type " SteroCameraSensor" or "CameraSensor" , there is no "GetData" but GetLenData interface . it should have the interface to retrieve camera frames/image easily. As I know, it is not easy to do in the sensor plugin unless enumerating all sensor in the simulated environment ( extra plugin or module to do that). Thanks,

Hi, Thanks! I will take a look.

@rr, This is a known issue - we'll take a look and see if it's an easy fix for an upcoming version. In the meantime as a workaround, I've checked that the Opacity property is working as intended - if you set Opacity to 0, the object becomes invisible. Regards, ANVEL Support

Is there a way to get the objectkey of some of the Managers like the Physics manager or Environment manager to change some of their properties? Can I just use the Full ID values on the GUI; they appear to always be the same?

@samxchandler, Got the files. We'll take a look. Regards, ANVEL Support

@rr, Yes, it should! Take a look at https://wiki.anvelsim.com/3/index.php/Ogre_Menu#Convert_Object_To_XML_Mesh and let us know if you run into any issues! Regards, ANVEL Support

@collindavenport, Thanks for sending over the files! From our perspective, the vehicle definition has some issues. Before we dig into it, are you manually driving this vehicle (with the keyboard or joystick)? If programmatically controlled, can we get the code you are using to test out the vehicle? On the vehicle def: The FDS values are way too high, which causes the vehicle to slide around like crazy when doing any sort of steering. One key point to note here is that the testers of these vehicles (generating the acceleration curves) are highly talented drivers that balance wheel spin off the line with throttle application. How the test is performed (is the throttle floored at the start? Is a clutch used to keep starting revs high and then blended in precisely?) will impact the results. You nor I could achieve this same acceleration curve in real-world driving without lots and lots of practice. Furthermore, in an ideal case, tires are warmed up, its on a very sticky bit of asphalt, etc, so we don't necessarily think tuning it to maximum performance with a simple vehicle controller is realistic. It is extremely difficult to avoid spinning out the rear wheels on a car like the Demon. You have to baby the throttle as the torque is can provide in 1st gear is well beyond the traction limits of any tire. Pacejka VTI will be the most accurate for pavement acceleration tests, and getting some more accurate tire data will be key to matching these super car results. Their tires have much higher peak grip than a standard road tire, and are super wide, which influences the slip/grip curves. It looks like you are doing a trick of including a separate vehicle object to represent the center of mass, which slightly decreases processing performance, and may influence accuracy as well. It looks like you also included some debugging physics objects that are meant to represent the current wheel rotation rates. This is most likely actively interfering with the dynamics, and should be completely removed. Hope this helps provide some insight... Regards, ANVEL Support

@xnham, Great question! Unfortunately, it's not currently possible to do that. We'll put it on the list of future enhancements, though! Regards, ANVEL Support